Modeling and Motion Control System Research of A Mini Underwater Vehicle

摘要

A mini autonomous underwater vehicle (in short, AUV) controlled by thruster and fins was described in this paper. Spatial motion mathematic model of the mini vehicle was established. The forces acting on the AUV were analyzed and the main hydrodynamic coefficients were determined both theoretically and experimentally. The embedded motion control system was introduced in detail, including hardware architecture, software architecture, information flow and etc. Considering the manipulating characteristics of the vehicle, the baslc motion controller was designed based on S control method. Finally, a series of motion control tests in lake were done to verify the basic performance of the control system.